NDLI: Multi-agent pursuit with decision-making and formation control

Content Provider	IEEE Xplore Digital Library
Author	Wenxu Zhang Xiaolong Chen Lei Ma Duo Zhao
Copyright Year	2013
Description	Author affiliation: Sch. of Electr. Eng., Southwest Jiaotong Univ., Chengdu, China (Wenxu Zhang; Xiaolong Chen; Lei Ma; Duo Zhao)
Abstract	This article is concerned with pursuit of multiple evaders with a group of mobile robots. We address this problem from a novel stochastic point of view. Objective of the pursuit is to track and eventually capture the evaders. The evaders possess certain level of intelligence in the way of changing their motion pattern. This necessitates group decision making and coordination of the pursuers. A decision-making scheme of formation changing for the pursuers is proposed in this paper. The pursuers track the targets using a leader-following strategy with the state of the evaders being estimated with distributed Kalman filtering. When the motion pattern of the evaders varies, the pursuers change their formation accordingly based on the Decentralized Partially Observable Markov Decision Processes (DEC-POMDP). Decisions are made according to the pursuers' confidence of their estimation on the evaders and seek to approach maximal reward. Simulation results show the feasibility and validity of the proposed scheme.
Starting Page	7016
Ending Page	7022
File Size	198548
Page Count	7
File Format	PDF
ISBN	9789881563835
ISSN	19341768
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-07-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Target tracking Decision making DEC-POMDP Kalman filters Mathematical model Joints State estimation Multi-agent pursuit Distributed Kalman filtering formation control
Content Type	Text
Resource Type	Article

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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